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@lwiniwar lwiniwar released this 28 Feb 09:40
· 493 commits to main since this release
v1.2.0
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Learn about vigilant mode.

New release of HELIOS++

Changelog:

  • Added support for trajectory input. An existing trajectory (incl. attitude) file (ASCII) can be specified, and HELIOS++ will follow this trajectory. See this example notebook or this example survey and the Wiki for more details.
  • Multi-channel Scanners are now supported. Have a look at our example notebooks for the Livox Mid-100 and the Velodyne Puck
  • Documentation: Gallery of examples showcasing features of HELIOS++ and explaining concepts and applications (notebooks, surveys). Find the gallery in the README.md and in the Wiki
  • New parameters verticalResolution_deg and horizontalResolution_deg in the scannerSettings (survey XML) for scanners with "rotating" deflectors (e.g., terrestrial laser scanners by RIEGL). These can be used alternatively to scanFreq_hz and headRotatePerSec_deg and simplify survey configurations.
  • Output directory is now output/[survey_name] by default. (Survey Playback was removed). It can be set to a different path using --output [new_path] on the command line or with the .setOutputDir(outputDir) method of a SimulationBuilder object in pyhelios.
  • Output path can be obtained in pyhelios from the sim.join() function, which now returns an object with measurements, trajectories and, if simBuilder.setFinalOutput(True) was set, outpaths (containing a string vector with the paths to all simulated point clouds) as well as outpath (containing the path to the last simulated point cloud).
  • Improved error message when attempting to load invalid OBJ files: Will now specify the Filename and Triangle ID, omit the offending obj object and resume simulation instead of crashing.
  • Fixed bugs related to --lasOutput and --las10 versions as well as merging of flight strips by setting <leg id="00"> or similar.
  • Solved a few minor bugs
  • Implemented some minor improvements

The Windows and Ubuntu-binaries include pyhelios files for Python 3.6-3.10. By default, Python 3.8 is activated. To change, you need to replace the _pyhelios.pyd/_pyhelios.so-File in the run folder with the respective file corresponding to your version.

On Ubuntu, the run folder has to be added to your LD_LIBRARY_PATH to tell dynamic link loader where to look for dynamic shared libraries. This can be done with export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"path/to/helios/run".

This release is also published on zenodo with the following DOI:

DOI

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